LLMs for Coding and Robotics Education

Large language models and multimodal large language models have revolutionized artificial intelligence recently. An increasing number of regions are now embracing these advanced technologies. Within this context, robot coding education is garnering increasing attention. To teach young children how to code and compete in robot challenges, large language models are being utilized for robot code explanation, generation, and modification. In this paper, we highlight an important trend in robot coding education. We test several mainstream large language models on both traditional coding tasks and the more challenging task of robot code generation, which includes block diagrams. Our results show that GPT-4V outperforms other models in all of our tests but struggles with generating block diagram images.

Learning to Assist Different Wearers in Multitasks: Efficient and Individualized Human-In-the-Loop Adaption Framework for Exoskeleton Robots

One of the typical purposes of using lower-limb exoskeleton robots is to provide assistance to the wearer by supporting their weight and augmenting their physical capabilities according to a given task and human motion intentions. The generalizability of robots across different wearers in multiple tasks is important to ensure that the robot can provide correct and effective assistance in actual implementation. However, most lower-limb exoskeleton robots exhibit only limited generalizability. Therefore, this paper proposes a human-in-the-loop learning and adaptation framework for exoskeleton robots to improve their performance in various tasks and for different wearers. To suit different wearers, an individualized walking trajectory is generated online using dynamic movement primitives and Bayes optimization. To accommodate various tasks, a task translator is constructed using a neural network to generalize a trajectory to more complex scenarios. These generalization techniques are integrated into a unified variable impedance model, which regulates the exoskeleton to provide assistance while ensuring safety. In addition, an anomaly detection network is developed to quantitatively evaluate the wearer's comfort, which is considered in the trajectory learning procedure and contributes to the relaxation of conflicts in impedance control. The proposed framework is easy to implement, because it requires proprioceptive sensors only to perform and deploy data-efficient learning schemes. This makes the exoskeleton practical for deployment in complex scenarios, accommodating different walking patterns, habits, tasks, and conflicts. Experiments and comparative studies on a lower-limb exoskeleton robot are performed to demonstrate the effectiveness of the proposed framework.

Safe and Individualized Motion Planning for Upper-limb Exoskeleton Robots Using Human Demonstration and Interactive Learning

A typical application of upper-limb exoskeleton robots is deployment in rehabilitation training, helping patients to regain manipulative abilities. However, as the patient is not always capable of following the robot, safety issues may arise during the training. Due to the bias in different patients, an individualized scheme is also important to ensure that the robot suits the specific conditions (e.g., movement habits) of a patient, hence guaranteeing effectiveness. To fulfill this requirement, this paper proposes a new motion planning scheme for upper-limb exoskeleton robots, which drives the robot to provide customized, safe, and individualized assistance using both human demonstration and interactive learning. Specifically, the robot first learns from a group of healthy subjects to generate a reference motion trajectory via probabilistic movement primitives (ProMP). It then learns from the patient during the training process to further shape the trajectory inside a moving safe region. The interactive data is fed back into the ProMP iteratively to enhance the individualized features for as long as the training process continues. The robot tracks the individualized trajectory under a variable impedance model to realize the assistance. Finally, the experimental results are presented in this paper to validate the proposed control scheme.

Physical-layer Adversarial Robustness for Deep Learning-based Semantic Communications

End-to-end semantic communications (ESC) rely on deep neural networks (DNN) to boost communication efficiency by only transmitting the semantics of data, showing great potential for high-demand mobile applications. We argue that central to the success of ESC is the robust interpretation of conveyed semantics at the receiver side, especially for security-critical applications such as automatic driving and smart healthcare. However, robustifying semantic interpretation is challenging as ESC is extremely vulnerable to physical-layer adversarial attacks due to the openness of wireless channels and the fragileness of neural models. Toward ESC robustness in practice, we ask the following two questions: Q1: For attacks, is it possible to generate semantic-oriented physical-layer adversarial attacks that are imperceptible, input-agnostic and controllable? Q2: Can we develop a defense strategy against such semantic distortions and previously proposed adversaries? To this end, we first present MobileSC, a novel semantic communication framework that considers the computation and memory efficiency in wireless environments. Equipped with this framework, we propose SemAdv, a physical-layer adversarial perturbation generator that aims to craft semantic adversaries over the air with the abovementioned criteria, thus answering the Q1. To better characterize the realworld effects for robust training and evaluation, we further introduce a novel adversarial training method SemMixed to harden the ESC against SemAdv attacks and existing strong threats, thus answering the Q2. Extensive experiments on three public benchmarks verify the effectiveness of our proposed methods against various physical adversarial attacks. We also show some interesting findings, e.g., our MobileSC can even be more robust than classical block-wise communication systems in the low SNR regime.

SSN: Stockwell Scattering Network for SAR Image Change Detection

Recently, synthetic aperture radar (SAR) image change detection has become an interesting yet challenging direction due to the presence of speckle noise. Although both traditional and modern learning-driven methods attempted to overcome this challenge, deep convolutional neural networks (DCNNs)-based methods are still hindered by the lack of interpretability and the requirement of large computation power. To overcome this drawback, wavelet scattering network (WSN) and Fourier scattering network (FSN) are proposed. Combining respective merits of WSN and FSN, we propose Stockwell scattering network (SSN) based on Stockwell transform which is widely applied against noisy signals and shows advantageous characteristics in speckle reduction. The proposed SSN provides noise-resilient feature representation and obtains state-of-art performance in SAR image change detection as well as high computational efficiency. Experimental results on three real SAR image datasets demonstrate the effectiveness of the proposed method.

Can Machines Generate Personalized Music? A Hybrid Favorite-aware Method for User Preference Music Transfer

User preference music transfer (UPMT) is a new problem in music style transfer that can be applied to many scenarios but remains understudied.

They are Not Completely Useless: Towards Recycling Transferable Unlabeled Data for Class-Mismatched Semi-Supervised Learning

Semi-Supervised Learning (SSL) with mismatched classes deals with the problem that the classes-of-interests in the limited labeled data is only a subset of the classes in massive unlabeled data. As a result, the classes only possessed by the unlabeled data may mislead the classifier training and thus hindering the realistic landing of various SSL methods. To solve this problem, existing methods usually divide unlabeled data to in-distribution (ID) data and out-of-distribution (OOD) data, and directly discard or weaken the OOD data to avoid their adverse impact. In other words, they treat OOD data as completely useless and thus the potential valuable information for classification contained by them is totally ignored. To remedy this defect, this paper proposes a "Transferable OOD data Recycling" (TOOR) method which properly utilizes ID data as well as the "recyclable" OOD data to enrich the information for conducting class-mismatched SSL. Specifically, TOOR firstly attributes all unlabeled data to ID data or OOD data, among which the ID data are directly used for training. Then we treat the OOD data that have a close relationship with ID data and labeled data as recyclable, and employ adversarial domain adaptation to project them to the space of ID data and labeled data. In other words, the recyclability of an OOD datum is evaluated by its transferability, and the recyclable OOD data are transferred so that they are compatible with the distribution of known classes-of-interests. Consequently, our TOOR method extracts more information from unlabeled data than existing approaches, so it can achieve the improved performance which is demonstrated by the experiments on typical benchmark datasets.